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feat(calibrate): integrate multi-frame depth pooling with --depth-pool-size flag

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crosstyan
2026-02-07 08:10:01 +00:00
parent dad1f2a69f
commit 4fc8de4bdc
6 changed files with 774 additions and 82 deletions
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py_workspace/tests/test_depth_cli_postprocess.py
+52 -37
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@@ -67,7 +67,7 @@ def test_benchmark_matrix(mock_dependencies):
"frame_index": 100,
}
verification_frames = {serial_int: vf}
verification_frames = {serial_int: [vf]}
first_frames = {serial_int: vf}
marker_geometry = {1: np.zeros((4, 3))}
camera_matrices = {serial_int: np.eye(3)}
@@ -100,6 +100,7 @@ def test_verify_only(mock_dependencies, tmp_path):
# Setup inputs
serial = "123456"
serial_int = int(serial)
results = {
serial: {
"pose": "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1", # Identity matrix flattened
@@ -107,16 +108,18 @@ def test_verify_only(mock_dependencies, tmp_path):
}
}
verification_frames = {
serial: {
"frame": MagicMock(
depth_map=np.zeros((10, 10)), confidence_map=np.zeros((10, 10))
),
"ids": np.array([[1]]),
"corners": np.zeros((1, 4, 2)),
}
serial_int: [
{
"frame": MagicMock(
depth_map=np.zeros((10, 10)), confidence_map=np.zeros((10, 10))
),
"ids": np.array([[1]]),
"corners": np.zeros((1, 4, 2)),
}
]
}
marker_geometry = {1: np.zeros((4, 3))}
camera_matrices = {serial: np.eye(3)}
camera_matrices = {serial_int: np.eye(3)}
updated_results, csv_rows = apply_depth_verify_refine_postprocess(
results=results,
@@ -146,18 +149,21 @@ def test_refine_depth(mock_dependencies):
# Setup inputs
serial = "123456"
serial_int = int(serial)
results = {serial: {"pose": "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1", "stats": {}}}
verification_frames = {
serial: {
"frame": MagicMock(
depth_map=np.zeros((10, 10)), confidence_map=np.zeros((10, 10))
),
"ids": np.array([[1]]),
"corners": np.zeros((1, 4, 2)),
}
serial_int: [
{
"frame": MagicMock(
depth_map=np.zeros((10, 10)), confidence_map=np.zeros((10, 10))
),
"ids": np.array([[1]]),
"corners": np.zeros((1, 4, 2)),
}
]
}
marker_geometry = {1: np.zeros((4, 3))}
camera_matrices = {serial: np.eye(3)}
camera_matrices = {serial_int: np.eye(3)}
# Mock verify to return different values for pre and post
# First call (pre-refine)
@@ -199,15 +205,18 @@ def test_refine_depth_warning_negligible_improvement(mock_dependencies):
mock_verify, mock_refine, mock_echo = mock_dependencies
serial = "123456"
serial_int = int(serial)
results = {serial: {"pose": "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1", "stats": {}}}
verification_frames = {
serial: {
"frame": MagicMock(depth_map=np.zeros((10, 10))),
"ids": np.array([[1]]),
}
serial_int: [
{
"frame": MagicMock(depth_map=np.zeros((10, 10))),
"ids": np.array([[1]]),
}
]
}
marker_geometry = {1: np.zeros((4, 3))}
camera_matrices = {serial: np.eye(3)}
camera_matrices = {serial_int: np.eye(3)}
# RMSE stays almost same
res_pre = MagicMock(rmse=0.1, n_valid=10, residuals=[])
@@ -249,15 +258,18 @@ def test_refine_depth_warning_failed_or_stalled(mock_dependencies):
mock_verify, mock_refine, mock_echo = mock_dependencies
serial = "123456"
serial_int = int(serial)
results = {serial: {"pose": "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1", "stats": {}}}
verification_frames = {
serial: {
"frame": MagicMock(depth_map=np.zeros((10, 10))),
"ids": np.array([[1]]),
}
serial_int: [
{
"frame": MagicMock(depth_map=np.zeros((10, 10))),
"ids": np.array([[1]]),
}
]
}
marker_geometry = {1: np.zeros((4, 3))}
camera_matrices = {serial: np.eye(3)}
camera_matrices = {serial_int: np.eye(3)}
res_pre = MagicMock(rmse=0.1, n_valid=10, residuals=[])
res_post = MagicMock(rmse=0.1, n_valid=10, residuals=[])
@@ -298,18 +310,21 @@ def test_csv_output(mock_dependencies, tmp_path):
csv_path = tmp_path / "report.csv"
serial = "123456"
serial_int = int(serial)
results = {serial: {"pose": "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1", "stats": {}}}
verification_frames = {
serial: {
"frame": MagicMock(
depth_map=np.zeros((10, 10)), confidence_map=np.zeros((10, 10))
),
"ids": np.array([[1]]),
"corners": np.zeros((1, 4, 2)),
}
serial_int: [
{
"frame": MagicMock(
depth_map=np.zeros((10, 10)), confidence_map=np.zeros((10, 10))
),
"ids": np.array([[1]]),
"corners": np.zeros((1, 4, 2)),
}
]
}
marker_geometry = {1: np.zeros((4, 3))}
camera_matrices = {serial: np.eye(3)}
camera_matrices = {serial_int: np.eye(3)}
updated_results, csv_rows = apply_depth_verify_refine_postprocess(
results=results,
@@ -324,11 +339,11 @@ def test_csv_output(mock_dependencies, tmp_path):
)
assert len(csv_rows) == 2 # From mock_verify_res.residuals
assert csv_rows[0] == [serial, 1, 0, 0.01]
assert csv_rows[0] == [serial_int, 1, 0, 0.01]
# Verify file content
assert csv_path.exists()
content = csv_path.read_text().splitlines()
assert len(content) == 3 # Header + 2 rows
assert content[0] == "serial,marker_id,corner_idx,residual"
assert content[1] == f"{serial},1,0,0.01"
assert content[1] == f"{serial_int},1,0,0.01"